T Nara / ikarashiMDC_can

ver CAN

ikarashiMDC.cpp@5:b43c03ee7f8b, 2017-08-29 (annotated)

Committer:
WAT34
Date:
Tue Aug 29 17:01:45 2017 +0900
Revision:
5:b43c03ee7f8b
Parent:
2:75153205d6e8
Child:
6:342e3a4f4a8d
debug completed

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WAT34 0:314f2bed3958 1 #include "ikarashiMDC.h"
WAT34 0:314f2bed3958 2
WAT34 0:314f2bed3958 3
WAT34 2:75153205d6e8 4 ikarashiMDC::ikarashiMDC(DigitalOut* serialcontrol,uint8_t taddr,uint8_t tmotorNum,bool tmode,Serial *tserial)
WAT34 0:314f2bed3958 5 {
WAT34 2:75153205d6e8 6 serialControl = serialcontrol;
WAT34 1:5e8014a1adbd 7 serialControl->write(true);
WAT34 2:75153205d6e8 8 serial = tserial;
WAT34 2:75153205d6e8 9 addr = taddr;
WAT34 2:75153205d6e8 10 motorNum = tmotorNum;
WAT34 2:75153205d6e8 11 mode = tmode;
WAT34 0:314f2bed3958 12 }
WAT34 0:314f2bed3958 13
WAT34 2:75153205d6e8 14 int ikarashiMDC::setSpeed(const double& speed)
WAT34 0:314f2bed3958 15 {
WAT34 5:b43c03ee7f8b 16 uint8_t data[3],dataSpeed;
WAT34 2:75153205d6e8 17 //Limiter
WAT34 2:75153205d6e8 18 const double cropped_speed = -1 < speed ?
WAT34 2:75153205d6e8 19 1 > speed ?
WAT34 2:75153205d6e8 20 speed:1
WAT34 2:75153205d6e8 21 :-1;
WAT34 2:75153205d6e8 22
WAT34 2:75153205d6e8 23 //dataspeed 0~253 neutaral 126
WAT34 2:75153205d6e8 24 dataSpeed = ((cropped_speed+1.0)/2.0)*253;
WAT34 2:75153205d6e8 25 //printf("%d\n",dataSpeed);
WAT34 2:75153205d6e8 26 //set sending data
WAT34 2:75153205d6e8 27 data[0] = 255; //header
WAT34 2:75153205d6e8 28 data[1] = (addr<<5) + motorNum + (mode<<4); //address
WAT34 2:75153205d6e8 29 data[2] = dataSpeed;
WAT34 2:75153205d6e8 30 //send data
WAT34 5:b43c03ee7f8b 31 for(int i=0; i<3; i++) {
WAT34 2:75153205d6e8 32 serial->putc(data[i]);
WAT34 2:75153205d6e8 33 }
WAT34 0:314f2bed3958 34 return 0;
WAT34 0:314f2bed3958 35 }
WAT34 0:314f2bed3958 36
WAT34 2:75153205d6e8 37
WAT34 2:75153205d6e8 38 void estop(Serial *serial)
WAT34 1:5e8014a1adbd 39 {
WAT34 2:75153205d6e8 40 for(int i = 0; i<3; i++) {
WAT34 2:75153205d6e8 41 serial->putc(255);
WAT34 1:5e8014a1adbd 42 }
WAT34 2:75153205d6e8 43
WAT34 5:b43c03ee7f8b 44 }